// --------------------------------------------------------------------------------------------------------------------
// <copyright file="RobotiqSModelFingerStatus.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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//  THE SOFTWARE.
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// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Hardware.Robotiq
{
    using System.Runtime.Serialization;

    /// <summary>
    /// Finger status for RobotiqModelS.
    /// </summary>
    [DataContract]
    public enum RobotiqSModelFingerStatus
    {
        /// <summary>
        /// Finger is in motion.  Only meaningful if go to position bit is set
        /// </summary>
        [EnumMember]
        InMotion,

        /// <summary>
        /// Finger has stopped due to contact while opening
        /// </summary>
        [EnumMember]
        StoppedDueToContactWhileOpening,

        /// <summary>
        /// Finger has stopped due to contact while closing
        /// </summary>
        [EnumMember]
        StoppedDueToContactWhileClosing,

        /// <summary>
        /// Finger is at the requested position
        /// </summary>
        [EnumMember]
        AtRequestedPosition
    }
}
